CN106584505B - A kind of modularization variation rigidity joint of robot - Google Patents
A kind of modularization variation rigidity joint of robot Download PDFInfo
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- CN106584505B CN106584505B CN201710043478.6A CN201710043478A CN106584505B CN 106584505 B CN106584505 B CN 106584505B CN 201710043478 A CN201710043478 A CN 201710043478A CN 106584505 B CN106584505 B CN 106584505B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
- B25J17/0233—Compliance devices with radial compliance, i.e. perpendicular to the longitudinal wrist axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention proposes a kind of modularization variation rigidity joint of robot, including position motors module (1), input module (2) and output module (3), the position motors module (1) is connected by axle sleeve (13) and input module (2), and the input module (2) and output module (3) are correspondingly connected with up and down.The present invention solves the problems, such as that position motors in the prior art and tune rigidity motor coupling are strong, stiffness variation range is small, adjusting rigidity to consume energy, big, variation rigidity component intercouples, passive stiffness characteristics are bad, need to external other equipment.
Description
Technical field
The invention belongs to robotic technology field, in particular to a kind of modularization variation rigidity joint of robot.
Background technique
Comparative maturity, the trajectory reproducing and power that can be realized degree of precision control traditional Industrial Robot Technology.
The applicable situation of industrial robot is fairly simple, and part producing informant's machine level of interaction is low, and the requirement to safety is relatively low.Closely
Several years, one of the main direction of studying of service robot and man-machine collaboration robot as robot.Why scholar surrounds robot
Directly and the mankind carry out human-computer interaction, and cooperation completes certain task and expands a large amount of research together.Limit service-delivery machine
The principal element of people and cooperation machine man-based development is that occasion is changeable, and security performance is difficult to ensure.In order to realize robot not
Know the reliability and safety under environment, propose the concept of flexible robot both at home and abroad, wherein variation rigidity joint of robot is exactly
The important composition of flexible robot.
Traditional industrial robot is rigid, on the basis of using the control algolithm of a large amount of sensor and complexity,
Also it is able to achieve certain Shared control.But precise kinetic model foundation difficulty is big, the resolution ratio of sensor and the sound of system
Speed is answered to produce very big influence to the effect of Shared control, it is difficult to guarantee reliability.Variation rigidity joint passes through in mechanism
Innovation is realized according to use occasion in conjunction with reasonable control algolithm, adjusts the rigidity of joint of robot, in real time to protect machine
The safety of device people and external object.Higher rigidity is kept in machine man-hour, is accurately controlled, is being collided with realizing
Rigidity is reduced when object, shock absorbing increases safety.Meanwhile variation rigidity joint of robot also embodies many advantages, such as
Energy consumption is low, output phase answers the advantages that fast, applied widely.Above-mentioned advantage makes robot variation rigidity joint become domestic and international
The hot spot of research.
Have at this stage in the principle that the core in variation rigidity joint is designed following several: antagonism principle, changes lever principle
Become spring parameter, electromagnetic principle, pneumatic muscles etc..The variation rigidity joint designed based on the above principles can realize that the change in joint is rigid
Degree requirement, but all there is corresponding deficiency, such as position motors and tune rigidity motor coupling are strong, stiffness variation range is small, adjust
Rigidity energy consumption is big, rigidity is unstable, variation rigidity component intercouples, needs the other problems such as external other equipment.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology and deficiency, provides a kind of modularization variation rigidity robot pass
Section solves above-mentioned position motors and adjusts that rigidity motor coupling is strong, stiffness variation range is small, adjusts that rigidity energy consumption is big, variation rigidity
Component intercouples, passive stiffness characteristics are bad, needs the problem of external other equipment.
The purpose of the present invention is achieved through the following technical solutions: a kind of modularization variation rigidity joint of robot, including position
Motor module 1, input module 2 and output module 3, the position motors module 1 are connected by axle sleeve 13 and input module 2, institute
It states input module 2 and about 3 output module is correspondingly connected with；
The position motors module 1 includes electric machine assembly 11, articular shell 12 and axle sleeve 13；
The input module 2 includes a pair of guide rods 21-1,21-2, a pair of of compressed spring 22-1,22-2, a pair of of spring base
23-1,23-2, a pair of guide rods axis 24-1,24-2, a pair of guide rods gag lever post 25-1,25-2, a pair of of joint gag lever post 26-1,26-
2, variation rigidity input board 27, magnetic induction gear 28 and harmonic speed reducer 29；
The output module 3 includes a pair of of linear guide 31-1,31-2, a pair of of roller mounting rack 32-1,32-2, a pair of of rolling
Subgroup 33-1,33-2, a pair of of rack gear 34-1,34-2, a pair of of gear wheel 35-1,35-2, pinion gear 36, rotary block 37, magnetic strength
Answer encoder probe 38, crossed roller bearing 39, end shell 310, variation rigidity output board 311, stiffness tuning electric machine assembly
312, bevel gear shafting 313, bearing outer ring pressing plate 314 and bearing inner race pressing plate 315.
Preferably, the electric machine assembly 11 includes position motors and encoder, and the electric machine assembly is mounted on position motors
It holds on articular shell 12.
Preferably, the pair of spring base 23-1,23-2, a pair of joint gag lever post 26-1,26-2, a pair of guide rods axis 24-
1,24-2, a pair of guide rods gag lever post 25-1,25-2, magnetic induction gear 28 and harmonic speed reducer 29 are installed in variation rigidity input board
On 27；The pair of compressed spring 22-1,22-2 is separately mounted between corresponding guide rod and spring base, and one end passes through
Screw is fixed, and the other end is fixed by limit.
Preferably, the stiffness tuning electric machine assembly 312 includes encoder, adjusts rigidity motor, retarder and input cone tooth
Wheel；The stiffness tuning electric machine assembly 312 is mounted on bearing inner race pressing plate 315, and bevel gear shafting 313 will by shafting sleeve
The bevel gear shafting is mounted on bearing inner race pressing plate 315, and pinion gear 36 is mounted on geared rotor system, bearing inner race pressing plate 315
On have the installation threaded hole of end-effector；The pair of linear guide 31-1,31-2, a pair of of gear wheel 35-1,35-2, rotation
Block 37 and magnetic induction encoder probe 38 are installed on variation rigidity output board 311；A pair of of roller mounting rack 32-1,32-2 points
It is not mounted in corresponding linear guide；A pair of of rack gear 34-1,34-2 and a pair of of set of rollers 33-1,33-2 are separately mounted to respectively
On corresponding roller mounting rack 32；39 inner ring of crossed roller bearing is compressed by variation rigidity output board 311 and bearing inner race pressing plate 315
Fixed, the bearing inner race pressing plate 315 and variation rigidity output board 311 are bolted and are fixed to each other, crossed roller bearing 39
Outer ring is fixed by bearing outer ring pressing plate 314 and end shell 310.
Preferably, the compliant wheel of harmonic speed reducer 29 is connected as fixed part and articular shell 12, harmonic speed reducer
29 rigid wheels are that power output end is connected with variation rigidity input board 27, and harmonic speed reducer wave producer leads to as power intake
Axle sleeve is crossed to be connected with position motors output shaft.
Preferably, the opposite deflection angle between the variation rigidity input board 27 and variation rigidity output board 311 uses magnetic strength
Formula encoder is answered to measure, the magnetic inductive encoder includes magnetic induction gear 28 and magnetic induction encoder probe 38, the two point
It is not arranged on variation rigidity input board 27 and variation rigidity output board 311,29 arranged concentric of magnetic induction gear 28 and harmonic speed reducer,
Harmonic speed reducer is arranged in magnetic inductive decoder internal.
Preferably, stiffness tuning transmission system is used as power output, bevel gear shafting using stiffness tuning electric machine assembly 312
313, pinion gear 36, a pair of gear wheel 35-1,35-2 and a pair of rack gear 34-1,34-2 are as corresponding drive train；Rigidity tune
Thermomechanical components 312 of economizing on electricity use horizontal arrangement；A pair of of canine tooth size of wheel is identical, and a pair of of gear wheel and corresponding rack gear are nibbled
It closes.
Preferably, described guide rod 21-1,21-2 and linear guide 31-1,31-2 are parallel arrangements in initial position, and
It is arranged symmetrically in " eight " shape, the two forms an angle with diameter.
The invention adopts the above technical scheme, which has the following advantages:
1, the present invention devises a kind of novel mechanical person joint.In joint designs, using modularization idea, close the later period
Building for the maintenance of section and mechanical arm is simpler.The nucleus module in joint is integrated in intra articular by reasonable mentality of designing,
Encoder and mechanical position limitation block are cleverly arranged in inside core component in remaining space, space is made to obtain reasonable benefit
With.By the way of the horizontal arrangement of stiffness tuning electric machine assembly, and the direction for changing rotation axis is transmitted in conjunction with bevel gear, effectively
Joint size is reduced, realizes the compact of joint.
2, present invention employs independent variation rigidity mechanisms, solve position motors and the coupling between rigidity motor is adjusted to ask
Topic, realizes position control and stiffness tuning and individually carries out.
3, the present invention realizes variation rigidity using roller, guide rod and compressed spring.It is parallel with linear guide using guide rod
It arranges, interaction force is small between original state, is rolling friction between roller and guide rail, realizes required when adjusting rigidity
Little energy, energy efficiency get a promotion.
4, the present invention is using double guide rod-dual springs, efficiently solve in existing variation rigidity joint two elastic elements it
Between coupling, simplify model.
5, the present invention is parallel with linear guide using guide rod, and has a certain degree arrangement with diametrical direction.Utilize lever
Principle changes the magnification ratio of the active force between set of rollers and guide rod, realizes and changes amount of force.Utilize change set of rollers
Position, realize and change active force to the torque arm length of joint rotation center.Using active force and acting force arm length is changed, in fact
Existing good torque factor and stiffness curve.When by foreign impacts, angle reduces on guide rod and diametrical direction, effective to increase
Add active force and the effective arm length to articulation center, realizes good passive stiffness characteristics.
6, the joint uses motor driven, provides power without bulky equipments such as external cylinders.
Detailed description of the invention
Fig. 1 is whole side view of the invention；
Fig. 2 is position motors module main view of the present invention；
Fig. 3 is position motors module bottom view of the present invention；
Fig. 4 is input module axonometric drawing of the present invention；
Fig. 5 is output module side view of the present invention；
Fig. 6 is output module bottom view of the present invention.
Specific embodiment
Technical solution in the embodiment of the present invention that following will be combined with the drawings in the embodiments of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of modularization variation rigidity joint of robot, including position motors
Module 1, input module 2 and output module 3, the position motors module 1 is connected by axle sleeve 13 and input module 2, described defeated
Enter module 2 and about 3 output module is correspondingly connected with；
The position motors module 1 includes electric machine assembly 11, articular shell 12 and axle sleeve 13；
The input module 2 includes a pair of guide rods 21-1,21-2, a pair of of compressed spring 22-1,22-2, a pair of of spring base
23-1,23-2, a pair of guide rods axis 24-1,24-2, a pair of guide rods gag lever post 25-1,25-2, a pair of of joint gag lever post 26-1,26-
2, variation rigidity input board 27, magnetic induction gear 28 and harmonic speed reducer 29；
The output module 3 includes a pair of of linear guide 31-1,31-2, a pair of of roller mounting rack 32-1,32-2, a pair of of rolling
Subgroup 33-1,33-2, a pair of of rack gear 34-1,34-2, a pair of of gear wheel 35-1,35-2, pinion gear 36, rotary block 37, magnetic strength
Answer encoder probe 38, crossed roller bearing 39, end shell 310, variation rigidity output board 311, stiffness tuning electric machine assembly
312, bevel gear shafting 313, bearing outer ring pressing plate 314 and bearing inner race pressing plate 315.
The electric machine assembly 11 includes position motors and encoder, and the electric machine assembly is mounted on outside the joint of position motors end
On shell 12.
The pair of spring base 23-1,23-2, a pair of joint gag lever post 26-1,26-2, a pair of guide rods axis 24-1,24-2,
A pair of guide rods gag lever post 25-1,25-2, magnetic induction gear 28 and harmonic speed reducer 29 are installed on variation rigidity input board 27；Institute
It states a pair of of compressed spring 22-1,22-2 to be separately mounted between corresponding guide rod and spring base, one end is solid by screw
Fixed, the other end is fixed by limit.
The stiffness tuning electric machine assembly 312 includes encoder, adjusts rigidity motor, retarder and input bevel gear；It is described
Stiffness tuning electric machine assembly 312 is mounted on bearing inner race pressing plate 315, and bevel gear shafting 313 passes through shafting sleeve for the cone tooth
Wheel shafting is mounted on bearing inner race pressing plate 315, and pinion gear 36 is mounted on geared rotor system, has end on bearing inner race pressing plate 315
Hold the installation threaded hole of operator；The pair of linear guide 31-1,31-2, a pair of of gear wheel 35-1,35-2, rotary block 37
It is installed on variation rigidity output board 311 with magnetic induction encoder probe 38；A pair of of roller mounting rack 32-1,32-2 are installed respectively
In corresponding linear guide；A pair of of rack gear 34-1,34-2 and a pair of of set of rollers 33-1,33-2 are separately mounted to corresponding
On roller mounting rack 32；39 inner ring of crossed roller bearing is fixed by variation rigidity output board 311 and bearing inner race pressing plate 315,
The bearing inner race pressing plate 315 and variation rigidity output board 311 are bolted and are fixed to each other, 39 outer ring of crossed roller bearing by
Bearing outer ring pressing plate 314 and end shell 310 are fixed.
The compliant wheel of the harmonic speed reducer 29 is connected as fixed part and articular shell 12, harmonic speed reducer 29
Rigid wheel is that power output end is connected with variation rigidity input board 27, and harmonic speed reducer wave producer passes through as power intake
Axle sleeve is connected with position motors output shaft.
On variation rigidity output board 311, the extreme position of 31 stroke of linear guide is assembled with limited block, in order to avoid sliding block
More than stroke, the interference between components is caused.It is separately installed on variation rigidity output board 311 and on variation rigidity input board 27
Rotary block 37 and a pair of of joint gag lever post 26 generate the characteristic in entire joint big in order to avoid spring deflection is excessive when overload
Influence.A pair of guide rods gag lever post plays the role of limiting the initial position of guide rod in guide rod component.Guide rod is avoided to return
Since spring force is more than initial position when returning.
Opposite deflection angle between the variation rigidity input board 27 and variation rigidity output board 311 is encoded using magnetic inductive
Device measurement, the magnetic inductive encoder include magnetic induction gear 28 and magnetic induction encoder probe 38, and the two is arranged in
On variation rigidity input board 27 and variation rigidity output board 311,29 arranged concentric of magnetic induction gear 28 and harmonic speed reducer, harmonic reduction
Device is arranged in magnetic inductive decoder internal.
Stiffness tuning transmission system is used as power output using stiffness tuning electric machine assembly 312, bevel gear shafting 313, small
Gear 36, a pair of gear wheel 35-1,35-2 and a pair of rack gear 34-1,34-2 are as corresponding drive train；Stiffness tuning motor
Component 312 uses horizontal arrangement；A pair of of canine tooth size of wheel is identical, a pair of of gear wheel and the engagement of corresponding rack gear.
Stiffness tuning transmission system is used as power source using horizontal stiffness tuning electric machine assembly 312, by bevel gear shafting
313, pinion gear 36, a pair of of gear wheel 35 and a pair of of rack gear 34 move the synchronous backward that conversion of motion is set of rollers 33, realize
Adjusting to rigidity.Stiffness tuning electric machine assembly 312 uses horizontal arrangement, effectively saves space.Meanwhile turning to change
Dynamic direction uses Bevel Gear Transmission.In order to guarantee forward motion and counter motion torque and rigidity with the spy of deflection angle
Property is identical, it is necessary to assure set of rollers 33-1 and 33-2 axis pair of the moment about variation rigidity output board 311 in the process of movement
Claim, that is, requires two rack gear 34-1 backward shift synchronous with 34-2's dynamic.In order to realize two rack gear 34-1 backward shift synchronous with 34-2's
Dynamic, gear wheel 35-1 is identical with the size of gear wheel 35-2, and pinion gear 36 and gear wheel 35-2 engagement, pinion gear 36 export
Rotate through two gear wheels, be converted into that steering is opposite, the equal-sized rotation of revolving speed, realize the synchronous backward shifts of two rack gears
It is dynamic.
Described guide rod 21-1,21-2 and linear guide 31-1,31-2 are parallel arrangements in initial position, and are in " eight " word
Shape is arranged symmetrically, and the two forms an angle with diameter.
Linear guide and guide rod are parallel to each other in initial position, are arranged in variation rigidity input board 27 at " eight " shape and become rigid
Spend output board 311.The interaction between guide rod 21 and set of rollers 33 is passed through in the rotation and torque that harmonic speed reducer 29 exports, and drives
Dynamic variation rigidity output board 311 and bearing inner race pressing plate 315 rotate.There is the installation spiral shell of end-effector on bearing inner race pressing plate 315
Pit exports movement and torque.Stiffness tuning electric machine assembly 312 and corresponding train are with 311 He of variation rigidity output board
Bearing inner race pressing plate 315 rotates together, and adjusts joint stiffness according to occasion.
The principle of the present invention are as follows:
Encoder and position motors in electric machine assembly 11 realize the control to joint terminal position.Harmonic speed reducer 29 will
Torque and movement transmitting 27 input terminal of mutagens rigidity input board.Interaction will movement and torque between set of rollers 33 and guide rod 21
It is converted into the rotation and torque of bearing inner race pressing plate 315, is output on end equipment.When end load increase, lead to set of rollers
Active force increases between 33 and guide rod 21, and the amount of compression increases for compressed spring 22.Guide rod 21 is used as lever, spring force and set of rollers 33
Institute's stress meets bar thick stick principle, increases with external world's load and increases.Meanwhile variation rigidity input board 27 and bearing inner race pressing plate 315
Between deflection angle increase.When adjusting roller position, when far from guide rod rotation center, between set of rollers 33 and guide rod 21
The decline of the ratio between active force and spring force.Moreover, 33 stress action spots of set of rollers are small relative to the arm of force of joint rotation center, it is whole
A joint loads ability reduces with deflection angle derivative, i.e., joint stiffness is low, variation rigidity input board 27 under the action of identical torque
The angle of deflection between bearing inner race pressing plate 315 becomes larger.Conversely, when rotation center of the roller close to guide rod, set of rollers
The ratio between effect and spring force increase between 33 and guide rod, the arm of force of the set of rollers institute's stress action spot relative to joint rotation center
Greatly, entire joint loads ability is strong, i.e., joint stiffness is big, under identical moment loading, variation rigidity input board 27 and bearing inner race
The angle of deflection between pressing plate 315 becomes smaller.High rigidity position precision is high, but safety is low.On the contrary, Low rigidity position is smart
Spend it is low, but it is highly-safe.Reasonably change position of the set of rollers 33 on guide rod according to use occasion, it is suitable to select
Relatively good control effect is realized to weigh safety and precision in position.
Guide rod and linear guide 31 in guide rod 21 are to arrange according to " eight " shape and diametrical direction is at certain angle
Degree.When by foreign impacts, impact moment can be such that amount of spring compression increases, and the angle of guide rod and initial position increases, so that
Active force between roller and guide rod increases the angle between diameter, which increases the effective arm of rotation center therewith
Add, passive stiffness characteristics presentation is good non-linear, and the active force between entire joint and external object gradually increases, safety
It is high.Meanwhile using two groups of arrangements, when by external loading torque, only contact with each other between side guide rod and roller, it is another
It is separated from each other between side guide rod and roller.The coupling between two compressed springs can be released in this way, obtained preferably just
Spend performance and load capacity.Meanwhile being acted using the synchronous backward that two group guide rods and set of rollers are arranged symmetrically cooperation set of rollers,
Realize that positive and negative torque is consistent with the change curve of deflection angle with rigidity.
The real-time rigidity value and torque size in joint are mainly by between variation rigidity input board 27 and bearing inner race pressing plate 315
The relative position on guide rod of angle and roller of deflection influence, using magnetic inductive encoder, including magnetic induction gear
28 and magnetic induction encoder probe 38, the two is arranged in variation rigidity input board 27 and variation rigidity output board 311, to measure two
The deflection angle of person.Motor is used to control rack gear slidable adjustment roller position in stiffness tuning electric machine assembly 312, utilizes encoder
To read the angle of motor rotation.By control program it can be concluded that the torque and rigidity size of response, the control of combining response
Strategy can real-time change rigidity, to meet safety and required precision.
Above to a kind of modularization variation rigidity joint of robot provided by the present invention, it is described in detail, herein
Apply that a specific example illustrates the principle and implementation of the invention, the explanation of above example is only intended to help
Understand method and its core concept of the invention；At the same time, for those skilled in the art, according to the thought of the present invention,
There will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as to this
The limitation of invention.
Claims (5)
1. a kind of modularization variation rigidity joint of robot, it is characterised in that: including position motors module (1), input module (2) and
Output module (3), the position motors module (1) are connected by axle sleeve (13) and input module (2), the input module (2)
It is correspondingly connected with up and down with output module (3)；
The position motors module (1) includes electric machine assembly (11), articular shell (12) and axle sleeve (13)；
The input module (2) includes a pair of guide rods (21-1,21-2), a pair of of compressed spring (22-1,22-2), a pair of of spring base
(23-1,23-2), a pair of guide rods axis (24-1,24-2), a pair of guide rods gag lever post (25-1,25-2), a pair of of joint gag lever post
(26-1,26-2), variation rigidity input board (27), magnetic induction gear (28) and harmonic speed reducer (29)；
The output module (3) includes a pair of of linear guide (31-1,31-2), a pair of of roller mounting rack (32-1,32-2), a pair
Set of rollers (33-1,33-2), a pair of of rack gear (34-1,34-2), a pair of of gear wheel (35-1,35-2), pinion gear (36), rotation gear
Block (37), magnetic induction encoder probe (38), crossed roller bearing (39), end shell (310), variation rigidity output board (311),
Stiffness tuning electric machine assembly (312), bevel gear shafting (313), bearing outer ring pressing plate (314) and bearing inner race pressing plate (315)；
The electric machine assembly (11) includes position motors and encoder, and the electric machine assembly is mounted on position motors end articular shell
(12) on；
The pair of spring base (23-1,23-2), a pair of of joint gag lever post (26-1,26-2), a pair of guide rods axis (24-1,24-
2), a pair of guide rods gag lever post (25-1,25-2), magnetic induction gear (28) and harmonic speed reducer (29) are installed in variation rigidity input
On plate (27)；The pair of compressed spring (22-1,22-2) is separately mounted between corresponding guide rod and spring base, one
End is fixed by screw, and the other end is fixed by limit；
The stiffness tuning electric machine assembly (312) includes encoder, adjusts rigidity motor, retarder and input bevel gear；It is described rigid
Degree adjusts electric machine assembly (312) and is mounted on bearing inner race pressing plate (315), and bevel gear shafting (313) should by shafting sleeve
Bevel gear shafting is mounted on bearing inner race pressing plate (315), and pinion gear (36) is mounted on bevel gear shafting (313), in bearing
There is the installation threaded hole of end-effector on circle pressing plate (315)；The pair of linear guide (31-1,31-2), a pair of of gear wheel
(35-1,35-2), rotary block (37) and magnetic induction encoder probe (38) are installed on variation rigidity output board (311)；One
Roller mounting rack (32-1,32-2) is separately mounted in corresponding linear guide；A pair of of rack gear (34-1,34-2) and a pair of of rolling
Subgroup (33-1,33-2) is separately mounted on corresponding roller mounting rack (32)；Crossed roller bearing (39) inner ring is by becoming
Rigidity output board (311) and bearing inner race pressing plate (315) are fixed, the bearing inner race pressing plate (315) and variation rigidity output
Plate (311), which is bolted, to be fixed to each other, and crossed roller bearing (39) outer ring is by bearing outer ring pressing plate (314) and end shell
(310) fixed.
2. modularization variation rigidity joint of robot according to claim 1, it is characterised in that: harmonic speed reducer (29) it is soft
Property wheel as fixed part and articular shell (12) connection, harmonic speed reducer (29) rigid wheel is power output end, and becomes rigid
It spends input board (27) to be connected, harmonic speed reducer wave producer passes through axle sleeve and position motors output shaft phase as power intake
Connection.
3. modularization variation rigidity joint of robot according to claim 2, it is characterised in that: the variation rigidity input board
(27) the opposite deflection angle between variation rigidity output board (311) is measured using magnetic inductive encoder, the magnetic inductive
Encoder includes magnetic induction gear (28) and magnetic induction encoder probe (38), and the two is arranged in variation rigidity input board (27)
On variation rigidity output board (311), magnetic induction gear (28) and harmonic speed reducer (29) arranged concentric, harmonic speed reducer are arranged in
Magnetic inductive decoder internal.
4. modularization variation rigidity joint of robot according to claim 3, it is characterised in that: stiffness tuning transmission system is adopted
Use stiffness tuning electric machine assembly (312) as power output, bevel gear shafting (313), pinion gear (36), a pair of of gear wheel (35-
1,35-2) and the corresponding drive train of a pair of of rack gear (34-1,34-2) conduct；Stiffness tuning electric machine assembly (312) is using horizontal
Arrangement；A pair of of canine tooth size of wheel is identical, a pair of of gear wheel and the engagement of corresponding rack gear.
5. modularization variation rigidity joint of robot according to claim 4, it is characterised in that: described guide rod (21-1,21-
2) and linear guide (31-1,31-2) is to be arranged in parallel, and two guide rods and two linear guides are in initial position
" eight " shape is arranged symmetrically, and the two forms an angle with diameter.
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| CN201710043478.6A CN106584505B (en) | 2017-01-19 | 2017-01-19 | A kind of modularization variation rigidity joint of robot |
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| CN201710043478.6A CN106584505B (en) | 2017-01-19 | 2017-01-19 | A kind of modularization variation rigidity joint of robot |
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| CN106584505B true CN106584505B (en) | 2019-01-25 |
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| CN109968397B (en) * | 2017-12-28 | 2021-08-17 | 中国科学院沈阳自动化研究所 | Self-adaptive passive variable-stiffness joint |
| CN108414166A (en) * | 2018-01-25 | 2018-08-17 | 哈尔滨工业大学 | A kind of plane elastic body stiffness measurement device for robot flexibility joint |
| CN108387351B (en) * | 2018-02-12 | 2019-06-18 | 华中科技大学 | A kind of acral stiffness measurement device and its measurement method |
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| CN109465848B (en) * | 2018-11-30 | 2023-10-03 | 广东工业大学 | Robot joint becomes rigidity module based on cam lever structure |
| CN109732641B (en) * | 2019-01-28 | 2021-09-07 | 西安交通大学 | Two-state variable-rigidity compliant joint and operation method |
| CN110142800B (en) * | 2019-06-21 | 2022-07-08 | 上海交通大学 | Integrated variable-rigidity robot joint |
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| CN113084864B (en) * | 2021-05-07 | 2022-09-27 | 重庆理工大学 | Robot joint structure with variable rigidity |
| CN115741770B (en) * | 2022-11-16 | 2024-04-12 | 安徽工程大学 | Electromagnetic driving type friction variable stiffness compliant joint and working method |
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| CN103192406A (en) * | 2013-04-08 | 2013-07-10 | 北京航空航天大学 | Robot joint driver with variable rigidity |
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